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Daniel Agarandalexklimaj
d5839e2dd5
- all sources of optical flow publish sensor_optical_flow - sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow Co-authored-by: alexklimaj <alex@arkelectron.com>
25 lines
525 B
Bash
25 lines
525 B
Bash
#!/bin/sh
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#
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# @name 3DR Iris Quadrotor SITL (Optical Flow)
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#
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# @type Quadrotor Wide
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#
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. ${R}etc/init.d-posix/airframes/10016_iris
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# EKF2
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param set-default EKF2_AID_MASK 2
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param set-default EKF2_EVP_NOISE 0.05
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param set-default EKF2_EVA_NOISE 0.05
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# LPE: Flow-only mode
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param set-default LPE_FUSION 242
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param set-default LPE_FAKE_ORIGIN 1
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param set-default MPC_ALT_MODE 2
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param set-default SENS_FLOW_ROT 6
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param set-default SENS_FLOW_MINHGT 0.7
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param set-default SENS_FLOW_MAXHGT 3.0
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param set-default SENS_FLOW_MAXR 2.5
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